Mobile robot navigation

About: Mobile robot navigation is a research topic. Over the lifetime, 14713 publications have been published within this topic receiving 263092 citations.

Jijo-2: an office robot that communicates and learns

Abstract: Describes how the authors have combined speech recognition, dialogue management, and statistical learning procedures to develop Jijo-2; an office robot that can communicate with humans and learn about its environment.

Experimental robotics IV : the 4th International Symposium, Stanford, California, June 30-July 2, 1995

Abstract: Collective and cooperative group behaviours: Biologically inspired experiments in robotics.- Distributed robotic manipulation: Experiments in minimalism.- A general framework for multi-robot cooperation and its implementation on a set of three hilare robots.- Cooperative autonomous low-cost robots for exploring unknown environments.- An object-oriented framework for event-driven dextrous manipulation.- Toward obstacle avoidance in intermittent dynamical environments.- Integrating grasp planning and visual servoing for automatic grasping.- contact and grasp robustness measures: Analysis and experiments.- Performance limits and stiffness control of multifingered hands.- Real-time vision plus remote-brained design opens a new world for experimental robotics.- Experimental validation of an active visual control scheme based on a reduced set of image parameters.- Task oriented model-driven visually servoed agents.- Experiments in hand-eye coordination using active vision.- Visual positioning and docking of non-holonomic vehicles.- An intelligent observer.- The development of a robotic endoscope.- The extender technology: An example of human-machine interaction via the transfer of power and information signals.- Coordinated and force-feedback control of hydraulic excavators.- Experiments with a real-time structure-from-motion system.- Robotic perception of material: Experiments with shape-invariant acoustic measures of material type.- Multi-level 3D-tracking of objects integrating velocity estimation based on optical flow and kalman-filtering.- Experimental approach on artificial active antenna.- Low cost sensor based obstacle detection and description.- Parameter sensitivity analysis for design and control of tendon transmissions.- Stiffness isn't everything.- In pursuit of dynamic range: Using parallel coupled actuators to overcome hardware limitations.- Total least squares in robot calibration.- Symbolic modelling and experimental determination of physical parameters for complex elastic manipulators.- Learning compliant motions by task-demonstration in virtual environments.- Motion control for a hitting task: A learning approach to inverse mapping.- Experimental verification of progressive learning control for high-speed direct-drive robots with structure flexibility and non-collocated sensors.- Accurate positioning of devices with nonlinear friction using fuzzy logic pulse controller.- Platooning for small public urban vehicles.- Robust vehicle navigation.- Dynamic analysis of off-road vehicles.- An autonomous guided vehicle for cargo handling applications.- Robots that take advice.- Towards principled experimental study of autonomous mobile robots.- Mission programming: Application to underwater robots.- Specification, formal verification and implementation of tasks and missions for an autonomous vehicle.- Experimental study on modeling and control of flexible manipulators using virtual joint model.- Experimental research on impact dynamics of spaceborne manipulator systems.- An operational space formulation for a free-flying, multi-arm space robot.- Experimental research of a nonholonomic manipulator.- Mobile manipulation of a fragile object.- Empirical verification of fine-motion planning theories.- Estimating throughput for a flexible part feeder.- Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95.- Robot force control experiments with an actively damped compliant end effector.- Improved force control for conventional arms using wrist-based torque feedback.- Indoor navigation of an inverse pendulum type autonomous mobile robot with adaptive stabilization control system.- Motion and perception strategies for outdoor mobile robot navigation in unknown environments.- Programming symmetric platonic beast robots.- An experimental study on motion control of a biped locomotion machine using reaction wheels.- Real-time programming of mobile robot actions using advanced control techniques.

Real-time vision-based control of a nonholonomic mobile robot

Abstract: This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.

Outdoor autonomous navigation using monocular vision

Abstract: In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human. During this learning step, the robot records a video sequence. From this sequence, a three dimensional map of the trajectory and the environment is built. When this map has been computed, the robot is able to follow the same trajectory by itself. Experimental results carried out with an urban electric vehicle are shown and compared to the ground truth.

Learning socially normative robot navigation behaviors with Bayesian inverse reinforcement learning

Abstract: Mobile robots that navigate in populated environments require the capacity to move efficiently, safely and in human-friendly ways. In this paper, we address this task using a learning approach that enables a mobile robot to acquire navigation behaviors from demonstrations of socially normative human behavior. In the past, such approaches have been typically used to learn only simple behaviors under relatively controlled conditions using rigid representations or with methods that scale poorly to large domains. We thus develop a flexible graph-based representation able to capture relevant task structure and extend Bayesian inverse reinforcement learning to use sampled trajectories from this representation. In experiments with a real robot and a large-scale pedestrian simulator, we are able to show that the approach enables a robot to learn complex navigation behaviors of varying degrees of social normativeness using the same set of simple features.